cmake_minimum_required(VERSION 3.8)
project(agv_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(action_msgs REQUIRED)
find_package(nav_msg_pkg REQUIRED)
find_package(nav2_util REQUIRED)
find_package(agv_util REQUIRED)

# 指定头文件路径
include_directories(
  include
)

# 安装头文件到指定目录
install(DIRECTORY include/
  DESTINATION include
)

###################### 添加可执行文件 ####################
# 添加可执行文件
add_executable(agv_client src/agv_client.cpp src/task_server.cpp)
# 链接库
target_include_directories(agv_client PUBLIC
  ${PROJECT_SOURCE_DIR}/include
  ${agv_util_INCLUDE_DIRS}
)
# 添加依赖项
ament_target_dependencies(agv_client "rclcpp" "geometry_msgs" "tf2" "tf2_geometry_msgs" 
  "nav2_msgs"
  "nav2_util"
  "agv_util"
  "nav_msg_pkg")

# 安装
install(TARGETS
  agv_client
  DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY
  launch
  DESTINATION
  share/${PROJECT_NAME})


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
